The Research On Nurbs Curve Interpolation Algorithm Of6-DOF Industrial Robot

With the development of morden manufacturing, industrial robot have been widely used in many industrial productions. In the study of industrial robot technology, the robot kinematics plays an important role. It is one of the most important influencing factors of industrial robot off-line programming precision and speed. On the basis of robot kinematics, study the algorithm of robot trajectory has important theoretical significance and practical value.This thesis takes PUMA560robot as the research object, introduces the generation and the development trend of industrial robot, summarizes the present research situation of the NURBS curve interpolation and introduces the mathematical foundation of the robot kinematics briefly. According to the related parameters of the robot, the kinematics model and the relevant coordinate of the robot are built, the kinematics and inverse kinematics problem is studied, and the related algorithm of inverse kinematics was analyzed and compared. On this basis, a new method for the inverse kinematics of6-DOF manipulator based on dual quaternion was proposed. And the simulation was provided to verify the new method.The related theory of NURBS is introduced, and an adaptive feed seed interpolation for NURBS parametric curves based on de Boor algorithm is proposed. In this algorithm, the interpolation speed will be automatically adjusted according to the size of the error. This algorithm will meet the requirement that the interpolation speed and accuracy can be got at the same time.At last, the hardware platform of the industrial robot is build to verify the system. The results and data of simulation experiment proved the feasibility of this algorithm.